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Datasets:
lijinghai
/
so101_test

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so101
tutorial
Libraries:
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Dask
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xet
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float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
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[ 44.736328125, 139.04296875, 142.822265625, 40.341796875, -12.12890625, 14.49912166595459 ]
2.466667
74
0
74
0
[ 46.23046875, 139.39453125, 142.470703125, 39.90234375, -12.216796875, 14.392678260803223 ]
[ 45.439453125, 139.04296875, 142.822265625, 40.25390625, -12.12890625, 14.49912166595459 ]
2.5
75
0
75
0
[ 46.23046875, 139.39453125, 142.470703125, 39.90234375, -12.216796875, 14.392678260803223 ]
[ 45.87890625, 139.04296875, 142.822265625, 40.25390625, -12.12890625, 14.49912166595459 ]
2.533333
76
0
76
0
[ 46.23046875, 139.39453125, 142.470703125, 39.90234375, -12.216796875, 14.392678260803223 ]
[ 46.142578125, 139.04296875, 142.822265625, 40.25390625, -12.12890625, 14.49912166595459 ]
2.566667
77
0
77
0
[ 46.23046875, 139.39453125, 142.470703125, 39.90234375, -12.216796875, 14.392678260803223 ]
[ 46.142578125, 139.04296875, 142.822265625, 40.25390625, -12.12890625, 14.49912166595459 ]
2.6
78
0
78
0
[ 46.23046875, 139.39453125, 142.470703125, 39.90234375, -12.216796875, 14.392678260803223 ]
[ 46.0546875, 139.04296875, 142.822265625, 40.25390625, -12.12890625, 14.49912166595459 ]
2.633333
79
0
79
0
[ 46.23046875, 139.39453125, 142.470703125, 39.90234375, -12.3046875, 14.392678260803223 ]
[ 45.966796875, 139.04296875, 142.822265625, 40.25390625, -12.12890625, 14.49912166595459 ]
2.666667
80
0
80
0
[ 46.23046875, 139.39453125, 142.3828125, 39.814453125, -12.3046875, 14.392678260803223 ]
[ 45.966796875, 139.04296875, 142.822265625, 40.25390625, -12.12890625, 14.49912166595459 ]
2.7
81
0
81
0
[ 46.23046875, 139.39453125, 142.3828125, 39.814453125, -12.3046875, 14.392678260803223 ]
[ 46.0546875, 139.04296875, 142.822265625, 40.25390625, -12.12890625, 14.49912166595459 ]
2.733333
82
0
82
0
[ 46.142578125, 139.39453125, 142.294921875, 39.814453125, -12.3046875, 14.392678260803223 ]
[ 46.0546875, 139.04296875, 142.822265625, 40.25390625, -12.216796875, 14.49912166595459 ]
2.766667
83
0
83
0
[ 46.142578125, 139.39453125, 142.119140625, 39.814453125, -12.3046875, 14.392678260803223 ]
[ 45.966796875, 139.04296875, 142.822265625, 40.25390625, -12.216796875, 14.49912166595459 ]
2.8
84
0
84
0
[ 46.142578125, 139.39453125, 142.03125, 39.814453125, -12.3046875, 14.392678260803223 ]
[ 45.966796875, 139.04296875, 142.822265625, 40.25390625, -12.216796875, 14.49912166595459 ]
2.833333
85
0
85
0
[ 46.142578125, 139.39453125, 142.03125, 39.7265625, -12.3046875, 14.392678260803223 ]
[ 45.966796875, 139.04296875, 142.822265625, 40.25390625, -12.216796875, 14.49912166595459 ]
2.866667
86
0
86
0
[ 46.142578125, 139.39453125, 142.3828125, 39.19921875, -12.3046875, 14.392678260803223 ]
[ 46.0546875, 139.04296875, 142.822265625, 40.25390625, -12.216796875, 14.49912166595459 ]
2.9
87
0
87
0
[ 46.142578125, 139.39453125, 142.470703125, 38.49609375, -12.3046875, 14.226288795471191 ]
[ 46.0546875, 139.04296875, 142.822265625, 40.166015625, -12.216796875, 14.49912166595459 ]
2.933333
88
0
88
0
[ 46.142578125, 139.39453125, 142.470703125, 37.529296875, -12.3046875, 14.226288795471191 ]
[ 45.966796875, 139.04296875, 142.822265625, 39.638671875, -12.216796875, 14.49912166595459 ]
2.966667
89
0
89
0
[ 46.142578125, 139.39453125, 142.55859375, 36.826171875, -12.3046875, 14.226288795471191 ]
[ 45.966796875, 139.04296875, 142.822265625, 38.935546875, -12.216796875, 14.49912166595459 ]
3
90
0
90
0
[ 46.142578125, 139.39453125, 142.55859375, 36.298828125, -12.3046875, 14.226288795471191 ]
[ 45.966796875, 139.04296875, 142.822265625, 37.96875, -12.216796875, 14.49912166595459 ]
3.033333
91
0
91
0
[ 46.142578125, 139.39453125, 142.646484375, 36.123046875, -12.3046875, 14.226288795471191 ]
[ 45.966796875, 139.04296875, 142.822265625, 37.265625, -12.216796875, 14.49912166595459 ]
3.066667
92
0
92
0
[ 46.142578125, 139.39453125, 142.646484375, 36.03515625, -12.3046875, 14.143094062805176 ]
[ 45.966796875, 139.04296875, 142.822265625, 36.826171875, -12.216796875, 14.49912166595459 ]
3.1
93
0
93
0
[ 46.142578125, 139.39453125, 142.646484375, 36.03515625, -12.3046875, 14.143094062805176 ]
[ 45.966796875, 139.04296875, 142.998046875, 36.650390625, -12.216796875, 14.49912166595459 ]
3.133333
94
0
94
0
[ 46.142578125, 139.39453125, 142.646484375, 36.03515625, -12.3046875, 14.143094062805176 ]
[ 45.966796875, 139.04296875, 143.0859375, 36.5625, -12.216796875, 14.49912166595459 ]
3.166667
95
0
95
0
[ 46.142578125, 139.39453125, 142.646484375, 36.03515625, -12.3046875, 14.143094062805176 ]
[ 45.966796875, 139.04296875, 143.173828125, 36.5625, -12.216796875, 14.49912166595459 ]
3.2
96
0
96
0
[ 46.142578125, 139.39453125, 143.173828125, 35.771484375, -12.3046875, 14.143094062805176 ]
[ 45.966796875, 139.04296875, 143.173828125, 36.5625, -12.216796875, 14.49912166595459 ]
3.233333
97
0
97
0
[ 46.142578125, 139.39453125, 143.96484375, 35.68359375, -12.3046875, 14.143094062805176 ]
[ 45.966796875, 139.04296875, 143.26171875, 36.474609375, -12.216796875, 14.49912166595459 ]
3.266667
98
0
98
0
[ 46.142578125, 139.74609375, 145.01953125, 35.68359375, -12.392578125, 14.143094062805176 ]
[ 45.966796875, 139.04296875, 143.876953125, 36.2109375, -12.216796875, 14.49912166595459 ]
3.3
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "so101",
    "total_episodes": 2,
    "total_frames": 1768,
    "total_tasks": 1,
    "total_videos": 4,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:2"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.laptop": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
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            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.phone": {
            "dtype": "video",
            "shape": [
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                640,
                3
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            "names": [
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                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
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                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
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                1
            ],
            "names": null
        },
        "index": {
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                1
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            "names": null
        },
        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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